Method and system from controlling an unmanned aerial vehicle

ABSTRACT

A method is provided. An unmanned aerial vehicle (UAV) can be operated in an autonomous mode, performing course corrections from sensor data using an object detection processor and a decision processor. The UAV can then enter a hover mode if an override condition is present and enter a remote-control mode once the UAV is in the hover mode. In the remote-control mode, flight control commands can be received via the cellular module so as to position the UAV in response to the flight control command.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation-in-part of U.S. patent applicationSer. No. 15/933,107, which entitled “System for Communicating Mode of aVehicle” and which was filed on Mar. 22, 2018 and which claims priorityto U.S. patent application Ser. No. 62/528,397 that was filed on Jul. 3,2017. Each application is hereby incorporated by reference for allpurposes.

TECHNICAL FIELD

The invention relates generally to unmanned serial vehicle (UAV) ordrone and, more particularly, to control of a drone.

BACKGROUND

Over the last few years, drones have become more widely used in avariety of applications ranging from reconnaissance to delivery ofsupplies. As a result, drones have been incrementally improving and areon the verge of being in wide spread use. But, widespread usage ofdrones—especially in urban areas—can be problematic. Namely, the dronescan pose a danger to public safety due to (for example) enteringprohibited areas (like power substations), airborne collisions, or poorweather conditions. Therefore, there is a need for overriding dronecontrols to help ensure public safety. Some examples of conventionaldrone controls and designs can be seen in the following: U.S. Pat. Nos.9,070,101; 9,262,929; 9,307,383; 9,359,074; 9,373,014; 9,373,149;9,451,020; 9,479,392; 9,493,238; 9,535,423; 9,547,307; 9,612,123;9,630,715; 9,631,933; 9,669,904; 9,671,781; 9,720,415; 9,734,723;9,743,260; 9,754,490; 9,910,441; 9,958,864; 9,983,582; 9,987,971;10,000,285; 10,048,683.

SUMMARY

An embodiment of the present disclosure, accordingly, a method isprovided. The method comprises: operating an unmanned aerial vehicle(UAV) in an autonomous mode, wherein the step of operating the UAVincludes: operating a visual indicator in a first mode, wherein thefirst mode reflects that the UAV is in the autonomous mode; receiving afirst set of sensor data from a sensor by a main controller having anobject detection processor, and a decision processor; analyzing thefirst set of sensor data to detect a location of a first object by theobject detection processor; and determining a course adjustment by thedecision processor based at least in part on the location of the firstobject; entering a hover mode if an override condition is present,wherein the step of entering the hover mode includes: operating thevisual indicator in a second mode, wherein the second mode reflects thatthe UAV is in the hover mode: receiving a second set of sensor data fromthe sensor by the main controller; analyzing the second set of sensordata to detect a location of a second object by the object detectionprocessor; and determining, by the decision processor, a distance fromthe second from which the UAV is to hover, wherein the distance is basedat least in part on the location of the second object; entering aremote-control mode once the UAV is in the hover mode, wherein the stepof entering the hover mode includes: operating the visual indicator in athird mode, wherein the second mode reflects that the UAV is in theremote-control mode; receiving a third set of sensor data from thesensor by the main controller; transmitting the third set of sensor datavia a cellular module that is in communication with the main controller;receiving a flight control command via the cellular module; andpositioning the UAV in response to the flight control command.

In accordance with an embodiment of the present disclosure, the firstobject further comprises a plurality of first objects, and wherein thesecond object further comprises a plurality of second objects, andwherein the flight control command further comprises a plurality offlight control commands.

In accordance with an embodiment of the present disclosure, the sensorfurther comprises a plurality of sensors.

In accordance with an embodiment of the present disclosure, theplurality of sensors further comprises a camera and an accelerometer.

In accordance with an embodiment of the present disclosure, the courseadjustment is a first course adjustment wherein the step of operatingthe UAV further comprises: determining a position of the UAV with aglobal positioning system (GPS) module that is in communication with themain controller; comparing the position of the UAV with a predeterminedcourse to generate error data; and determining a second coursecorrection in response to the error data.

In accordance with an embodiment of the present disclosure, the methodfurther comprises: determining a position of the UAV with a GPS modulethat is in communication with the main controller; receiving a timestampby the cellular module; generating a nonce; generating a top hash basedat least in part on the timestamp and the position of the UAV;calculating a current block based at least in parat on a previous block,the top hash, and nonce; and transmitting, via the cellular module, thecurrent block, the timestamp, the nonce, the prior block, and theposition of the UAV.

In accordance with an embodiment of the present disclosure, the first,second, and third modes are represented by different colors.

In accordance with an embodiment of the present disclosure, the first,second, and third modes are represented by different strobing patters.

In accordance with an embodiment of the present disclosure. A UAV isprovided. The UAV comprises: a lift body having: a first housing; amotor with a stator and a rotor, wherein the stator of the motor issecured to the first housing; a propeller that is secured to the rotorof the motor; a main body having: a second housing that is secured tothe first housing and that has an interior; a visual indicator securedto the second housing; avionics secured at least partially within theinterior of the second housing, wherein the avionics includes: a camera;a GPS module; a cellular module; an accelerometer; a power supply thatis configured to provide power to the motor, the camera, the cellularmodule, visual indicator, and the accelerometer, a main controllerhaving an object detection processor, a decision processor, and memory,wherein the main controller is configured to receive power from thepower supply, and wherein the main controller is operable to communicatewith the camera, the cellular module, visual indicator, and theaccelerometer, and wherein the memory includes instructions to: operatea visual indicator to reflect that the UAV is in an autonomous mode;analyze a first set of sensor data received from the camera to detect alocation of a first object with the object detection processor duringthe autonomous mode; determine a course adjustment with the decisionprocessor based at least in part on the location of the first objetduring the autonomous mode; operate the visual indicator to reflect thatthe UAV is in a hover mode when an override condition is present;analyze a second set of sensor data received from the camera to detect alocation of a second object with the object detection processor;determine, with the decision processor, a distance from the second fromwhich the UAV is to hover, wherein the distance is based at least inpart on the location of the second object; operate the visual indicatorto reflect that the UAV is in the remote-control mode; transmit thethird set of sensor data received from the camera via the cellularmodule; and position the UAV in response to a flight control commandreceived via the cellular module.

In accordance with an embodiment of the present disclosure, the camerafurther comprises a visual spectrum camera and an infrared camera.

In accordance with an embodiment of the present discloser, the avionicsfurther comprises a forward looking millimeter wave (mmW) radartransceiver, and a downward-looking mmW radar transceiver, and whereinthe first, second, and third sets of sensor data include measurementsfrom the forward-looking and downward-looking mmW radar transceivers.

In accordance with an embodiment of the present disclosure, the avionicsfurther comprises an airspeed sensor and a barometer, and wherein, forthe instructions to determine the course adjustment, the courseadjustment is at least in part based on airspeed.

In accordance with an embodiment of the present disclosure, the avionicsfurther comprises impact sensors that are configured to be powered bythe power supply and that is in communication with the main controller.

In accordance with an embodiment of the present disclosure, the visualindicator is a plurality of LEDs, and wherein the first, second, andthird modes are represented by different colors.

In accordance with an embodiment of the present disclosure, the firsthousing further comprises a plurality of first housings, and wherein themotor further comprises a plurality of motors, with the stators of eachsecured at least of the first housings, and wherein the propellerfurther comprises a plurality of propellers with each secured to atleast one rotor of at least one of the motors.

In accordance with an embodiment of the present disclosure, a UAV isprovided. The UAV comprises: a lift body having: a plurality of arms; aplurality of motors, wherein each motor has a stator and a rotor, anwherein the stator of each motor is secure to at least one of the arms:a plurality of propellers, wherein each propeller is secured to at leastone rotor of at least one of the motors; a main housing having aninterior, a top surface, and a bottom surface, wherein each first arm issecured to the main housing; a power supple secured within the interiorof the main body housing, wherein the power supply includes: a battery;and a power supply manager that is electrically coupled to the battery;a motor manager that is secured with the interior of the main body andthat is electrically coupled to the power supply and each motor; aplurality of visual indicators that are secured to the main housing suchthat each visual indicator is visible from the top surface of the mainhousing; a camera that is secured to the bottom surface of the mainhousing and that is electrically coupled to the power supply: a mmWradar transceiver secured to the main housing and that is electricallycoupled to the power supply; a GPS module secured to the main housing anthat is electrically coupled to the power supply; an accelerometer thatis secured to the main housing and that is electrically coupled to thepower supply: a cellular module that is secured to the main housing andthat is electrically coupled to the power supply; and a main controllerthat is secured within the interior of the main housing, wherein themain controller includes: a bus; an object detection processor that iselectrically coupled to the bus; a decision processor that iselectrically coupled to the bus; an interface that is electricallycoupled to the bus, wherein the interface is electrically coupled to thecamera, mmW radar transceiver, GPS module, accelerometer, and cellularmodule; and memory that is electrically coupled to the bus, wherein thememory includes instructions to: operate the visual indicators toreflect that the UAV is in an autonomous mode: analyze a first set ofsensor data received from the camera and mmW radar transceiver to detecta location of a first object with the object detection processor duringthe autonomous mode, determine a course adjustment with the decisionprocessor based at least in part on the location of the first objectduring the autonomous mode; operate the visual indicators to reflectthat the UAV is in a hover mode when an override condition is present,analyze a second set of sensor data received from the camera and mmWradar transceiver to detect a location of a second object with theobject detection processor; determine, with the decision processor, adistance from the second from which the UAV is to hover, wherein thedistance is based at least in part on the location of the second object;operate the visual indicator to reflect that the UAV is in theremote-control mode; transmit the third set of sensor data received fromthe camera via the cellular module; and position the UAV in response toa flight control command received via the cellular module.

In accordance with an embodiment of the present disclosure, the overridecondition further comprises a prohibited location, weather condition, orlaw enforcement request.

BRIEF DESCRIPTION OF THE DRAWINGS

For a more complete understanding of the present invention, and theadvantages thereof, reference is now made to the following descriptionstaken in conjunction with the accompanying drawings, in which:

FIG. 1 is a system in accordance with an embodiment of the presentdisclosure;

FIGS. 2 and 3 depict an example of the drone of UAV shown in FIG. 1;

FIGS. 4 and 5 depict an example of maintaining an immutable ledger ofthe position of the drone of FIGS. 1-3; and

FIG. 6 depicts an example of the operation of the drone of FIGS. 1-3.

DETAILED DESCRIPTION

Refer now in the drawings wherein depicted elements are, for the sake ofclarity, not necessarily shown to scale and wherein like or similarelements are designated by the same reference numeral through theseveral views.

Turning to FIG. 1, an example of a system 100 that uses drone or UAV102. Drones 102 (which can be fixed wing or rotary wing aircraft) arelikely to find more widespread use in urban areas in which the cellularnetworks (e.g., 4G or Long-Term Evolution (LTE), 5G, or other nextgeneration communications networks) are well-developed. As such, drone102 can take advantage of the existing communications infrastructure tohelp ensure public safety and regulatory requirements. As shown in thisexample, the network 110 (which can be a switched packet network likethe Internet) can be coupled to wireless base stations 104 that,themselves, can communicate with mobile devices 106 and drone 102. Thedrones 102, too, can receive global position system (GPS) data from theGPS system 108. Because of this configuration, an override server 112(which can receive commands from a manual control 114) can control theoperation of the drone under certain conditions, which are described indetail below.

In FIGS. 2 and 3, a more detailed example of a drone of UAV 102 can beseen. As shown for the sake of simplicity in this example, the drone 102is shown as being a quad-rotor (i.e., rotary wing) drone, but fixed wingdrones or rotary wing drones with additional (or fewer) rotors ispossible. Speaking strictly to the example shown, there is a main bodywith a housing 202 and four arms 206-1 to 206-4. Within each arm 206-1to 206-4 and as is conventionally known, there is a motor (e.g. 328)with a stator secured to the housing and a rotor with a propellersecured thereto. This provides lift and flight control over the drone102. The housing 202 can typically include a top surface with visualindicators 204-1 to 204-4. There may be fewer or more visual indicators204-1 to 204-4, but, in this example, four indicators are shown. Theseindicators 204-1 to 204-4 are typically comprised of multi-colorlight-emitting diodes (LEDs) with diffusion lenses that enable the lightto be seen from long distances (e.g., ½ mile or more). Depending on themode of the drone (e.g., autonomous, hover, or remote-control) theindicators 204-1 to 204-4 (collectively referred to as mode indicators356) can emit different colors (e.g., green for autonomous, yellow forhover, or red for remote-control), may be strobed differently (e.g.,solid for autonomous, long pulses for hover, or short pulses forremote-control), or may be some combination of color and strobing.

Since the drone 102 is intended to have multiple modes (e.g., autonomousand remote-controlled), there can be certain controls and avionicsemployed within the drone 102. Typically, these controls and avionicstake the form of a main controller 32, a communications module 358,power supply 318, flight control 326, and sensor array 332. Most ofthese components can be sensitive and can be secured within the interiorof housing 202, but others—like some of the sensors—can be exteriorly orpartially exteriorly mounted (like camera 334) or may have exposurethrough an aperture (e.g., airspeed sensor 346).

Turning first to the autonomous mode, the drone 102 can function in thismode with a variety of sensor inputs to allow it to follow apredetermined flightpath while also accounting for changing conditions.As shown in this example, the main controller 302 uses separateprocessors for observation, decisions, and interfacing. These processors304, 306, and 308 are coupled to one another over a bus 316 (which maybe a switch fabric, single bus, or multiple busses). In operation, it isdesirable for the drone 102 to scan its surroundings during flight todetect objects (like other drones, powerlines, trees, birds, and soforth) and avoid these objects. The object detection processor 306(which can be a graphics processing unit or GPU—like the Nvidia JetsonTegra X2—or a tensor processing unit or TPU) is typically configured todo large scale matrix calculations (e.g., for hidden Markov models orconventional computer vision software) to detect an object that may bewithin the flight path of the drone 102. Sensor data can be provided tothe processor 306 from the sensor array 332 through interface 210 (whichitself is coupled to the bus 316 and which may be comprised of multipleinterfaces). These sensors within the sensor array 332 can be onseparate printed circuit boards (PCBs) or may be contained on the samePCB as the main controller 302. Typically, for object detection, avisual spectrum camera 334, infrared camera of forward-looking infrared(FLIR) camera 338, forward-looking millimeter wave (mmW) radartransceiver 340, downward-looking mmW radar transceiver 342 or anycombination thereof can be used to perform object detection usingprocessor 306. Similarly, the decision processor 308 (which can be agraphics processing unit or GPU—like the Nvidia Jetson Tegra X2—or atensor processing unit or TPU) is typically configured to do large scalematrix calculations (e.g., for hidden Markov models) to predictcollision and to predict avoidance. Using the known, predeterminedflightpath, the processor 308 can predict the likelihood of a collisionand alter the flightpath to avoid the collision while staying on course.

In contrast to processors 306 and 308, the main processor 304 can be anordinary system-on-chip or SoC (e.g., Sitara-based SoC from TexasInstruments Incorporated). This processor 304 can be tasked withmonitoring onboard telemetry, controlling the indicators 356, providingflight control, provide override control, and control communications.Typically, telemetry is collected through interface 310 from sensor inthe sensor array 332. Usually, the airspeed sensor 346, barometer 344,impact sensors 352, GPS module 336, accelerometers 348, rotor straingauges 350, and body strain gauges 354 provide telemetry. The barometer344 can detect external dangers (e.g., weather) that may not beconducive for safe flight so as to reflect an internally detectedoverride condition. The GPS module 336, airspeed sensor 346, andaccelerometers 348 can detect relative position so as to maintain thecorrect flightpath and to reflect an internally detected overridecondition when deviations have exceeded predetermined thresholds. Theimpact sensor 352 and strain gauges 350 and 354 can be a measure of theinternal health of the UAV 302 and can reflect an internally detectedoverride condition when deviations have exceeded predeterminedthresholds. In all modes, the main processor 304 can communicate flightcontrols to the motor manager 330 that controls the motors 328. The maincontroller 360 can also receive and transmit data and commands throughthe communications module 358 (which can include a cellular interface260 and radio frequency (RF) interface 362). Other examples ofinternally detected override conditions can include processable eventsor scenarios by the decision processor 308 or sensor failure.

Typically, there is also memory (which can be comprised of volatilesystem memory 312 and nonvolatile memory 314). This memory can be thefunctional memory holding instructions for operation and may store data(such as the immutable ledger, predetermined flightpath, and maps) andworking instructions. When the drone 102 is maintaining a predeterminedflightpath, the main processor 304 can reference both maps and theflightpath stored in memory (e.g., nonvolatile memory 314). Data fromthe accelerometer 348, the airspeed sensor 346, and GPS module 336 canbe used to determine relative position and velocity, which can becompared to the predetermined flightpath. From this, error data can bedetermined which allow the main processor 304 to implement coursecorrections.

Additionally, there is also a power supply 318. Because the drone 102 iselectrically controlled and driven, management of the power distributionand of the batter 320 is generally important. The battery managementmodule 322 can precisely manage the battery 320 and usage of the battery320. Under conditions when the draw has exceeded predeterminedthresholds or when the charge of the battery 320 is below apredetermined threshold, an internally detected override condition thebattery management module 322 can direct appropriate responsive actions.Power distribution can be accomplished through the power manager 324,which can supply power to all internal components. The power supply 318can also be separate or integrated with (same PCB as) the maincontroller 302.

As part of the increased use of drones 202, it may become necessary aspart of the regulatory scheme to maintain an immutable ledger of thelocation of drones 202. There can be a variety of reasons for this typeof ledger, ranging from liability for damage caused by drones 202 or forlaw enforcement purposes. The immutable ledger can be accomplished usinga blockchain such as a Merkel hash tree. Typically, as shown in FIGS. 4and 5, a drone 102 will measure its GPS position in step 402 and receivegenerated a timestamp and nonce from network 110 in steps 404 and 406.From this data as well as the transaction number and drone identifier,hashes can be calculated in step 408. Typically, the top hash is, forexample, calculated as follows:

(1) The degrees, minutes, and second of the GPS position latitude are(for example) concatenated with one another and double hashed withSHA-256;

(2) The degrees, minutes, and second of the GPS position longitude are(for example) concatenated with one another and double hashed withSHA-256;

(3) Each of the transaction number (which is typically a sequentialnumber), the drone 102 identification number, the timestamp, and thenonce are (for example) double hashed with SHA-256; and

(4) The hashes can then be concatenated with one another in a hash tree(double hashed at each stage) until the top hash is generated. Then, instep 410, a new block can be generated from previous block and top hash(e.g., concatenation and double SHA-265 hashing). The ledger (which canbe in FIG. 5) can be updated and transmitted to the network 110.

Turning now to FIG. 6, of other importance can be the override controls(which can be for safety of regulatory purposes). Typically, when adrone 102 is in flight, it is intended to operate between endpoints tooperate in an autonomous mode in step 502. The autonomous mode isgenerally described above. While operating in autonomous mode, the mainprocessor 304 will be engaged in substantially continuous conditionmonitoring. This is generally accomplished via monitoring of internallymeasured override conditions (which are discussed above) in step 504 orbased on an externally measured override conditions in step 506.External override conditions can be triggered by a variety of externalconditions, such as detecting that the drone has entered into anunauthorized area, unsafe weather conditions, or law enforcementrequest. In this case, the override server 112 (shown in FIG. 1) cansend an override command to the drone 102 via network 110. When theoverride condition is present, the drone 102 enters into a hover mode(which changes the indicators 356 and where the drone 102 remainslargely stationary) and indicates to the override server 112 that it isawaiting further instructions. In the case where the structuralstability of the drone has been compromised (e.g., because of a birdstrike), the alert to the network 110 from the drone 102 can allow lawenforcement to be alerted to the danger and allow for human interventionthrough the manual control via cellular communications. This manualcontrol can be accomplished when acknowledgement has been received bythe drone 102 in step 512. At this point, the drone 102 entersremote-controlled mode (which changes indicators 356 and disablesprocessors 306 and 308). It is also possible to switch directly from anautonomous mode to a remotely-controlled mode. Moreover, it may also bepossible to return to autonomous mode if a problem is corrected inflight or during hover mode or if an obstacle is avoided through humanintervention.

Having thus described the present disclosure by reference to certain ofits preferred embodiments, it is noted that the embodiments disclosedare illustrative rather than limiting in nature and that a wide range ofvariations, modifications, changes and substitutions are contemplated inthe foregoing disclosure and, in some instances, some features of thepresent invention may be employed without a corresponding use of theother features. Accordingly, it is appropriate that the appended claimsbe construed broadly and in a manner consistent with the scope of theinvention. Moreover, unless the term “means” is expressly used in theclaims, no term is intended to be construed in accordance with 35 U.S.C.§ 112(1).

The invention claimed is:
 1. A method comprising: operating an unmannedaerial vehicle (UAV) in an autonomous mode; determining a position ofthe UAV with a global positioning system (GPS) module that is incommunication with a main controller within the UAV; receiving atimestamp by a cellular module, wherein the cellular module is incommunication with the main controller; generating a nonce; generating aMerkel root based at least in part on the timestamp and the position ofthe UAV; calculating a current block based at least in part on aprevious block, the Merkel root, and nonce; and transmitting, via thecellular module, the current block, the timestamp, the nonce, the priorblock, and the position of the UAV.
 2. The method of claim 1, whereinthe UAV further comprises a plurality of sensors.
 3. The method of claim2, wherein the plurality of sensors further comprises a camera and anaccelerometer.
 4. The method of claim 1, wherein the step of operatingthe UAV in the autonomous mode further comprises: determining a positionof the UAV with the(GPS); comparing the position of the UAV with apredetermined course to generate error data; and determining a secondcourse correction in response to the error data.
 5. A UAV comprising: alift body having: a first housing; a motor with a stator and a rotor,wherein the stator of the motor is secured to the first housing; apropeller that is secured to the rotor of the motor; a main body having:a second housing that is secured to the first housing and that has aninterior; a visual indicator secured to the second housing; avionicssecured at least partially within the interior of the second housing,wherein the avionics includes: a camera; a GPS module; a cellularmodule; an accelerometer; a power supply that is configured to providepower to the motor, the camera, the cellular module, the visualindicator, and the accelerometer; a main controller having an objectdetection processor, a decision processor, and memory, wherein the maincontroller is configured to receive power from the power supply, andwherein the main controller is operable to communicate with the camera,the cellular module, the visual indicator, and the accelerometer, andwherein the memory includes instructions to: operate the visualindicator to reflect that the UAV is in an autonomous mode; analyze afirst set of sensor data received from the camera to detect a locationof a first object with the object detection processor during theautonomous mode; determine a course adjustment with the decisionprocessor based at least in part on the location of the first objectduring the autonomous mode; operate the visual indicator to reflect thatthe UAV is in a hover mode when an override condition is present;analyze a second set of sensor data received from the camera to detect alocation of a second object with the object detection processor;determine, with the decision processor, a distance from the secondobject from which the UAV is to hover, wherein the distance is based atleast in part on the location of the second object; operate the visualindicator to reflect that the UAV is in a remote-control mode; transmitthe third set of sensor data received from the camera via the cellularmodule; and position the UAV in response to a flight control commandreceived via the cellular module.
 6. The UAV of claim 5, wherein thecamera further comprises a visual spectrum camera and an infraredcamera.
 7. The UAV of claim 5, wherein the avionics further comprises aforward-looking millimeter wave (mmW) radar transceiver, and adownward-looking mmW radar tranceiver, and wherein the first, second,and third sets of sensor data include measurements from theforward-looking and downward-looking mmW radar tranceivers.
 8. The UAVof claim 5, wherein the avionics further comprises an airspeed sensorand a barometer, and wherein, for the instructions to determine thecourse adjustment, the course adjustment is at least in part based onairspeed.
 9. The UAV of claim 5, wherein the avionics further comprisesimpact sensors that are configured to be powered by the power supply andthat is in communication with the main controller.
 10. The UAV of claim5, wherein the visual indicator is a plurality of LEDs, and wherein thefirst, second, and third modes are represented by different colors. 11.The UAV of claim 5, wherein the first housing further comprises aplurality of first housings, and wherein the motor further comprises aplurality of motors, with the stators of each secured at least of thefirst housings, and wherein the propeller further comprises a pluralityof propellers with each secured to at least one rotor of at least one ofthe motors.
 12. A UAV comprising: a lift body having: a plurality ofarms; a plurality of motors, wherein each motor has a stator and arotor, and wherein the stator of each motor is secure to at least one ofthe arms; a plurality of propellers, wherein each propeller is securedto at least one rotor of at least one of the motors; a main housinghaving an interior, a top surface, and a bottom surface, wherein eachfirst arm of the plurality of arms is secured to the main housing; apower supply secured within the interior of the main body housing,wherein the power supply includes: a battery; and a power supply managerthat is electrically coupled to the battery; a motor manager that issecured with the interior of the main body and that is electricallycoupled to the power supply and each motor; a plurality of visualindictors that are secured to the main housing such that each visualindicator is visible from the top surface of the main housing; a camerathat is secured to the bottom surface of the main housing and that iselectrically coupled to the power supply; a mmW radar transceiversecured to the main housing and that is electrically coupled to thepower supply; a GPS module secured to the main housing and that iselectrically coupled to the power supply; an accelerometer that issecured to the main housing and that is electrically coupled to thepower supply; a cellular module that is secured to the main housing andthat is electrically coupled to the power supply; and a main controllerthat is secured within the interior of the main housing, wherein themain controller includes: a bus; a object detection processor that iselectrically coupled to the bus; a decision processor that iselectrically coupled to the bus; an interface that is electricallycoupled to the bus, wherein the interface is electrically coupled to thecamera, mmW radar transceiver, GPS module, accelerometer, and cellularmodule; and memory that is electrically coupled to the bus, wherein thememory includes instructions to: operate the visual indicators toreflect that the UAV is in an autonomous mode; analyze a first set ofsensor data received from the camera and mmW radar transceiver to detecta location of a first object with the object detection processor duringthe autonomous mode; determine a course adjustment with the decisionprocessor based at least in part on the location of the first objectduring the autonomous mode; operate the visual indicators to reflectthat the UAV is in a hover mode when an override condition is present;analyze a second set of sensor data received from the camera and mmWradar transceiver to detect a location of a second object with theobject detection processor; determine, with the decision processor, adistance from the second object from which the UAV is to hover, whereinthe distance is based at least in part on the location of the secondobject; operate the visual indicator to reflect that the UAV is in theremote-control mode; transmit the third set of sensor data received fromthe camera via the cellular module; and position the UAV in response toa flight control command received via the cellular module.
 13. The UAVof claim 12, wherein the camera further comprises a visual spectrumcamera and an infrared camera.
 14. The UAV of claim 13, wherein the mmWradar transceiver further comprises a forward-looking mmW radartransceiver and a downward-looking mmW radar transceiver.
 15. The UAV ofclaim 14, wherein the UAV further comprises an airspeed sensor and abarometer, and wherein, for the instructions to determine the courseadjustment, the course adjustment is at least in part based on airspeed.16. The UAV of claim 15, wherein the override condition furthercomprises a prohibited location, weather condition, or law enforcementrequest.